The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents an objects-based topological mapping algorithm on different floors with various objects using a wheeled mobile robot. The extended Kalman filter (EKF) with adaptive measurement noise according to the terrain type is proposed to estimate the position of the robot. If an infrared distance sensor detects an object, the robot moves around the object to obtain the shape information...
Puffy is a learning and playful robotic companion for pre-school children. Designed in cooperation with a team of educators and inspired by Disney's Baymax, Puffy has a combination of features which makes it unique with respect to existing robots used in educational contexts. It is mobile and has an egg-shaped inflatable and soft body; it supports multimodal interaction, reacting to children's gestures...
This work presents theoretical and experimental investigations on an untethered rolling tensegrity robot. Previous research has shown, that rolling locomotion of compliant tensegrity robots can be realized without change of their shape, by using only internal mass shifting. The use of simple tensegrity structures, based on curved compressed members enables pure rolling locomotion in contrast to the...
The work describes a heuristic control strategy comprising reactive obstacle avoidance for omni-directional planar robot. The proposed method is based on artificial potential fields. Appropriate reshaping of repelling potential fields incorporating warping vectors and warping functions reduces the problem of local minima. Moreover, a solution to saddle point avoidance based on potential hessian is...
We are designing an unmanned ground vehicle (UGV) for use in a large-scale and long-term environmental monitoring system. Existing high-performance UGVs cannot cope with unexpected events because their design concept, like that of almost all previous mobile robots, is based on the development of a single high-performance robot capable of performing every task. To overcome this limitation, we propose...
In the paper discussed results of investigation of increasing of shape passableness and adaptability to terrain for walking machines and robots with cyclic movers types. Usage of cyclic walking movers allows not to care about gait safety and stability and exclude the necessity in controlled adaptation system. By the other hand, strict trajectory of support points of cyclic type of walking mechanisms...
Tethers are used to supply power and transfer data for teleoperated robots. They are known to limit the robot's workspace and could have the effect of hampering its motion. What if we could take advantage of the tether? In this paper a new visual servoing scheme for catenary shaped deformable objects is introduced in order to control the tether parametric shape by properly moving its fixation point...
Linear bladed cutting tools, such as jigsaws and reciprocating saws are vital manufacturing tools for humans. They enable people to cut structures that are much larger than themselves. Robots currently lack a generic path planner for linear bladed cutting tools. We developed a model for bladed tools based on Reeds-Shepp cars, and used the model to make a generic path planning algorithm for closed...
Human's everyday environment is an open environment in which objects with new shapes, colors or textures frequently appear. Enabling robots to deal with such environments and to manipulate those objects raises a difficult challenge: how to recognize an object? How to distinguish it from the background? An approach is proposed here to allow the robot to find this segmentation on its own. It relies...
The demand for monitoring from high points is increasing to support remote control and accurate monitoring. Unmanned ground vehicles with long arms are used to achieve long-term and accurate monitoring. The use of convex steel tapes is effective for achieving both high strength and lightness of the arm, which prevents the robot from collapsing or the arm from falling off. However, the previously proposed...
Improving office work efficiency has attracted increasing attention. We describe a tidying up robot that is expected to improve work efficiency. This robot is developed based on human-robot interaction and encourages a user to tidy up their desktop when it is disorderly. First, we explain the concept of the robot and introduce a prototype. We report the results of a preliminary experiment with four...
Hyper redundant snake robots have a possibility of utilizing in many fields, although there are control complexity problems when it is applied to complicated environment. For example, helical rolling motion have been used to climb a pipe. By using the helical rolling motion, a snake robot can move along the inside or the outside of a pipe. However, this motion has limitation when it moves in a pipe...
Snake-like robot which has active joints and thruster mechanisms has been proven to have its high mobility on narrow and rough terrain because of its slim and long trunk. However, larger space than its slim trunk is necessary for snakelike robot to turn. Thus, in order to improve the mobility of snake-like robot, turning method which makes turning radius smaller is needed. In this paper, a new turning...
A snake-like robot is a hyper-redundant robot. It has flexible movement ability and high stability with low center of gravity. It is very suitable for environment detection in the rugged road or narrow space. In this paper, a 16-DOFs snake robot is composed. It has ten 2-DOFs modular spherical-shape joints. The joints are arranged as the structure of "(Roll-Pitch)-(Roll-Pitch)-", where "(Roll-Pitch)"...
We present an approach for recognizing indoor scenes in object constellations that require object search by a mobile robot, as they cannot be captured from a single viewpoint. In our approach that we call Active Scene Recognition (ASR), robots predict object poses from learnt spatial relations that they combine with their estimates about present scenes. Our models for estimating scenes and predicting...
A method is presented for collecting images of static objects from various directions using a mobile robot equipped with a LIDAR unit and an omni-directional camera. A system using this method collects an image sequence for each object along with its geometric information (3D shape and position). The robot estimates its position while moving and detects static objects by using LIDAR. At each time...
Relay node placement in wireless sensor networks for constrained environment is a critical task due to various unavoidable constraints. One of the most important constraints is unpredictable obstacles. Handling obstacles during relay node placement is complicated because of complexity involved to estimate the shape and size of obstacles. This paper presents an Obstacle-resistant relay node placement...
A formation control scheme is studied for mobile robots with linear and angular velocity saturation constraint in this paper. The position of each mobile robot is obtained by GPS receiver module, and the yaw angle of mobile robot is obtained by magnetometer. Leader-follower formation method is applied to coordinate each mobile robot to keep the formation. The formation shape is described by the formation...
This paper presents a mathematical method of determination of optimal shape of cooperating rolling elements of spherical shape, i.e. the ones used for drive transmission in ballbots. The presented method takes all geometric parameters of such devices into account and can be easily adjusted to a wider selection of devices.
In this paper, two algorithms are proposed for a mobile robot with obstacle avoidance and plowing-walking pattern. The three wheels mobile robot, which is combined with four infrared (IR) sensors, and a microprocessor inside the control board are implemented and designed. The microprocessor receives distance data from IR sensors as an input for obstacle avoidance, and plowing-walking pattern. In the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.